| Autor: |
Rodríguez-Liñán María del Carmen, Mendoza Marco, Bonilla Isela, Chávez-Olivares César A. |
| Jazyk: |
angličtina |
| Rok vydání: |
2017 |
| Předmět: |
|
| Zdroj: |
International Journal of Applied Mathematics and Computer Science, Vol 27, Iss 1, Pp 79-90 (2017) |
| Druh dokumentu: |
article |
| ISSN: |
2083-8492 |
| DOI: |
10.1515/amcs-2017-0006 |
| Popis: |
A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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